The thing our team did was decide on a setup for the sensors....
It looks something like this:
After deciding on this setup we came up with a boolean setup that would, based on which lights were coming back true, turn the robot. We also made the sensory aspect of this custom code activate by pressing and holding button one. When this happened, the robot would no longer recieve x-values from the controller but recieve x-values from the code. It still allowed for y-axis values from the contoller.